CN201920650U - Robot with workpiece lifter - Google Patents
Robot with workpiece lifter Download PDFInfo
- Publication number
- CN201920650U CN201920650U CN2011200111260U CN201120011126U CN201920650U CN 201920650 U CN201920650 U CN 201920650U CN 2011200111260 U CN2011200111260 U CN 2011200111260U CN 201120011126 U CN201120011126 U CN 201120011126U CN 201920650 U CN201920650 U CN 201920650U
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- China
- Prior art keywords
- robot
- work package
- lowering
- hoisting gear
- scraping article
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- Expired - Lifetime
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Abstract
The utility model discloses a robot with a workpiece lifter. The robot comprises a robot body. A workpiece lifter is arranged in the robot body, and comprises a workpiece and lifting drive components. The lifting drive components comprise a drive motor (21) and a rotator (22) connected with a drive shaft of the drive motor (21); an inclined cam (24) is arranged on the rotator (22); a fixed mount (11) is arranged above the workpiece; the fixed mount (11) can be movably connected with the inside of the robot body; and the top end of the fixed mount (11) is butted with the inclined surface at one side below the inclined cam (24). The robot with the workpiece lifter has simple structure, is convenient to operate, realizes effective cleanness on glass to be cleaned, and has high working efficiency.
Description
Technical field
The utility model relates to a kind of robot that has the work package lowering or hoisting gear, belongs to robot manufacturing technology field.
Background technology
Existingly clean the windows the machine people on the wiping unit of follower, be provided with dish brush and scraping article usually, dish brush wherein is used for glass surface to be cleaned is scrubbed cleaning, the big slightly dirt of volume that adheres on it can be handled; Scraping article is then excellent to treatment effect water stain on the glass surface to be cleaned.But, because existing scraping article all is fixed on the wiping unit, in the motion process of follower, make the lower surface of follower and the frictional force between the plane of travel bigger than normal, have a strong impact on the speed of travel of follower on plane of travel.
Simultaneously, except the machine people that cleans the windows, existing other machines people's work package, whether can effectively, lifting freely or flexible problem if also existing.
The utility model content
Technical problem to be solved in the utility model is at the deficiencies in the prior art, a kind of robot that has the work package lowering or hoisting gear is provided, and it is simple in structure, flexible operation, high efficiency makes the work package of robot can lightly realize various operations fast under the effect of lowering or hoisting gear.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of robot that has the work package lowering or hoisting gear, comprise robot body, be provided with the work package lowering or hoisting gear in the described robot body, comprise work package and lifting driven unit, described lifting driven unit comprises drive motors, is connected the tumbler on the drive motors driving shaft, and tumbler is provided with oblique cam, and described work package top is provided with fixed mount, this fixed mount is mobily connected in the robot body, and the top of this fixed mount is replaced mutually with the inclined-plane of oblique cam below one side.
For the ease of control, also be provided with gauge tap on the described lifting driven unit, this gauge tap comprises electroconductive elastic sheet and control panel, and electroconductive elastic sheet is provided with 2 conductive contacts, and control panel is provided with 3 contact points that electrically conduct; One of described electroconductive elastic sheet or control panel and tumbler 22 be coaxial to be connected setting, link to each other with drive motors and be driven by it, produce relative rotation between electroconductive elastic sheet and the control panel, described 3 contact points that electrically conduct are linked to each other in twos with described 2 conductive contacts.
In order to obtain needed rotating speed, described tumbler is provided with gear wheel, and the driving shaft of described drive motors is provided with pinion, and gear wheel is meshed with the gear teeth of pinion.The speed reducing ratio of pinion and gear wheel was smaller or equal to 1: 2, and preferred speed reducing ratio is 1: 4.
For the ease of processing, described gear wheel and oblique cam are integrated.
The artificial glass cleaning machine device of described machine people, described work package comprises scraping article and scraping article fixed support, and described robot body bottom offers microscler notch, and scraping article moves back and forth in this microscler notch.
Described scraping article is the elasticity scraping article, and the elasticity scraping article is curved, and the peak of arc is fixed on the described fixed mount, and the distance of described apogee distance glass surface to be cleaned is d, and the thickness of described oblique cam and the thickness difference between the thinnest part are greater than d.
The quantity that is provided with of described lowering or hoisting gear is 2, and correspondence is offered 2 microscler notches on described chassis.The shared drive motors of described 2 lowering or hoisting gears, perhaps described 2 lowering or hoisting gears are driven by independent drive motors respectively.
Described robot can also be the robot of sweeping the floor, and described work package comprises dish brush and dish brush fixed support, and described robot body bottom is provided with opening, and the dish brush is back and forth realized lifting action in this opening.
In sum, the robot that has the work package lowering or hoisting gear provided by the utility model, it is simple in structure, flexible operation, high efficiency makes the work package of robot can lightly realize operation fast under the effect of lowering or hoisting gear.
Below in conjunction with the drawings and specific embodiments the technical solution of the utility model is described in detail.
Description of drawings
Fig. 1 is the overall structure schematic diagram of the work package lowering or hoisting gear of the utility model robot;
Fig. 2 is the planar structure schematic diagram of the work package lowering or hoisting gear of the utility model robot;
Fig. 3 is the utility model gauge tap closed condition schematic diagram;
Fig. 4 is the utility model gauge tap opening schematic diagram;
Fig. 5 is the utility model machine people scraping article off working state schematic diagram that cleans the windows;
Fig. 6 is the utility model machine people scraping article working state schematic representation that cleans the windows;
Fig. 7 is provided with position view for the utility model machine people scraping article that cleans the windows.
The specific embodiment
Fig. 1, Fig. 2 are respectively the overall structure and the plane structural representation of the work package lowering or hoisting gear of the utility model robot.As Fig. 1 and in conjunction with shown in Figure 2, the utility model provides a kind of robot that has the work package lowering or hoisting gear, comprise robot body, be provided with the work package lowering or hoisting gear in the described robot body, comprise work package and lifting driven unit, described lifting driven unit comprises drive motors 21, be connected the tumbler 22 on drive motors 21 driving shafts, tumbler 22 is provided with oblique cam 24, described work package top is provided with fixed mount 11, this fixed mount 11 is mobily connected in the robot body, and the top of this fixed mount 11 is replaced mutually with the inclined-plane of oblique cam 24 belows one side.In order to obtain suitable rotating speed, on tumbler 22, be provided with gear wheel 222, the driving shaft of drive motors 21 is provided with pinion 221, and pinion 221 is meshed with gear wheel 222, thereby plays the effect of deceleration.The speed reducing ratio of described pinion 221 and gear wheel 222 was smaller or equal to 1: 2.In the present embodiment, the speed reducing ratio of pinion 221 and gear wheel 222 equals 1: 4.For the ease of processing, described gear wheel 222 and oblique cam 24 can be integrated.
This gauge tap comprises electroconductive elastic sheet and control panel, and electroconductive elastic sheet is provided with 2 conductive contacts, and control panel is provided with 3 contact points that electrically conduct; One of described electroconductive elastic sheet or control panel and tumbler 22 be coaxial to be connected setting, link to each other with drive motors and be driven by it, produce relative rotation between electroconductive elastic sheet and the control panel, described 3 contact points that electrically conduct are linked to each other in twos with described 2 conductive contacts.
Fig. 3, Fig. 4 are respectively the utility model gauge tap and close and the opening schematic diagram.As Fig. 3 and in conjunction with shown in Figure 4, also be provided with gauge tap on the described lifting driven unit, comprise electroconductive elastic sheet 251 and control panel 252, electroconductive elastic sheet 251 is provided with 2 conductive contacts, control panel 252 is provided with 3 contact points that electrically conduct, and is respectively J1, J2 and J3; Electroconductive elastic sheet sheet 251 and tumbler 22 be coaxial to be connected setting and electroconductive elastic sheet 251 is fixed on the wheel face of tumbler 22, and electroconductive elastic sheet 251 links to each other with drive motors 21 by tumbler 22 and is driven by it.Control panel 22 can be fixed on the robot body, and for saving the space, control panel 252 can be connected setting with tumbler 22 is coaxial in the preferred version, and this moment, control panel 252 was maintained fixed motionless state.Thus, produce relative rotation between electroconductive elastic sheet 251 and the control panel 252, described 3 contact points that electrically conduct are linked to each other in twos with described 2 conductive contacts.As shown in Figure 3, gauge tap is in closed condition, when promptly work package is not worked, and J1 and J2 conducting, work package rises.When the needs work package is worked, 21 rotations of controller control drive motors, motor 21 drives pinion 22 rotations, gear wheel 23 drives electroconductive elastic sheet 251 and tiltedly cam 24 rotations, when oblique cam 24 reaches maximum ga(u)ge with work package fixed mount 11 tangent places, contact point on the electroconductive elastic sheet 251 is conducted the J2 and the J3 of control panel 252, work package decline d, output a control signal to controller, controller stops drive motors 21 work, be gauge tap opening shown in Figure 4, the decline process of the part of finishing the work this moment.
Tiltedly cam 24 and work package fixed mount 11 elastic reaction by work package self or the effect of the elastic component that between the effect of the elastic component that is provided with between work package and the work package fixed mount 11 or work package fixed mount 11 and oblique cam 24, is provided with, rely on the automatic recovery ability of elastic component, make between oblique cam 24 and the work package fixed mount 11 when tiltedly cam 24 is not oppressed work package fixed mount 11, still can keep during work package fixed mount 11 replacing on oblique cam 24.Introduce work package below and how to finish the process of rising.Continue 21 rotations of control drive motors, motor 21 drives pinion 221 rotations, gear wheel 222 drives electroconductive elastic sheet 251 and tiltedly cam 24 rotations, when oblique cam 24 reaches minimum thickness with work package fixed mount 11 tangent places, contact point on the electroconductive elastic sheet 251 is conducted the J1 and the J2 of control panel 252, thereby outputs a control signal to controller, and controller stops drive motors 21 work, the work package lifting, the uphill process of the part of finishing the work.
Certainly, except that aforesaid way, also can be control panel 252 be connected setting and control panel 252 is fixed on the wheel face of tumbler 22 with tumbler 22 is coaxial, and control panel 252 links to each other with drive motors 21 by tumbler 22 and is driven by it.Electroconductive elastic sheet 251 can be fixed on the robot body, and for saving the space, electroconductive elastic sheet 251 can be connected setting with tumbler 22 is coaxial in the preferred version, and this moment, electroconductive elastic sheet 251 was maintained fixed motionless state.Thus, produce relative rotation between control panel 252 and the electroconductive elastic sheet 251, described 3 contact points that electrically conduct are linked to each other in twos with described 2 conductive contacts.Though this mode can reach 3 electrically conduct contact point and described 2 purposes that conductive contact links to each other in twos equally, but owing to be that control panel 252 is rotated, the lead that is drawn on the control panel 252 produces in the process of rotation easily and twines, and is not best mode therefore.Realize the rising and the decline of work package by this kind mode, the electroconductive elastic sheet 251 of this implementation and above-mentioned introduction is followed the rotation of tumbler 22, make that the action effect that produces relative rotation between electroconductive elastic sheet 251 and the control panel 252 is identical, do not repeat them here.
Fig. 5, Fig. 6 are respectively the utility model clean the windows machine people scraping article off working state and working state schematic representation.As Fig. 5 and in conjunction with shown in Figure 6, see figures.1.and.2 simultaneously as can be known, this robot that has the work package lowering or hoisting gear that is provided in the present embodiment is a kind of machine people that cleans the windows who has the scraping article lowering or hoisting gear.Therefore, above described work package comprises scraping article 131 and scraping article fixed support 132, and work package is to be provided with elastic component between elastic component or work package and the fixed mount 11, as spring.The described bottom that cleans the windows the machine human body offers microscler notch, and scraping article is realized lifting action in this notch.
Described elasticity scraping article is curved, and the benefit of She Zhiing is like this, when scraping article descends, to scraping article generally speaking, the stressed maximum of fixing point at its middle part, even may cause scraping article middle part fixed point concave deformation.Be provided with curvedly if elasticity is scraped strip, be equivalent to apply a prestressing force, make scraping article in operation process, keep straight, wash effective scraping of glass surface to the elasticity scraping article.The peak of arc is fixed on the fixed mount 11, and the distance of the apogee distance glass surface to be cleaned of described scraping article is d, and the thickness of described oblique cam 24 and the thickness difference between the thinnest part are greater than d.That is to say that when the elasticity scraping article descended, scraping article produced the certain deformation amount at glass surface, and glass surface is produced certain normal pressure, will help scraping article like this dirt that adheres on the glass surface is cleared up effectively.
Fig. 7 is provided with position view for the utility model machine people scraping article that cleans the windows.As shown in Figure 7, treat the cleaning operation on cleaning glass surface for the ease of the machine people that cleans the windows, be provided with scraping article 131 in the bottom of robot, correspondence is offered microscler notch in the bottom of robot, and scraping article moves back and forth in this microscler notch.For ease of cleaning, can be provided with 2 scraping articles 131 in the bottom of robot, in this, lowering or hoisting gear be provided with quantity also correspondence be set to 2, described 2 lowering or hoisting gears are driven by independent drive motors respectively.In order to make this robot architecture's compactness, described 2 lowering or hoisting gears can a shared drive motors.
Have the machine people that cleans the windows of scraping article lowering or hoisting gear, can reduce the frictional force between robot lower surface and the glass plane of travel, robot is advanced freely on the glass plane of travel, realize treating effective cleaning of cleaning glass.
Outside the machine people that cleans the windows that this embodiment is cited, robot described in the utility model can also be the robot of sweeping the floor, described work package comprises dish brush and dish brush fixed support, and described robot body bottom is provided with opening, and the dish brush is back and forth realized lifting action in this opening.The work package of the relevant robot of sweeping the floor realizes the mechanism of lifting, and is identical with the machine people's that cleans the windows mechanism, do not repeat them here.
In sum, provided by the utility modelly provide a kind of robot that has the work package lowering or hoisting gear, it is simple in structure, flexible operation, and high efficiency makes the work package of robot can lightly realize various operations fast under the effect of lowering or hoisting gear.
Claims (12)
1. robot that has the work package lowering or hoisting gear, comprise robot body, it is characterized in that, be provided with the work package lowering or hoisting gear in the described robot body, comprise work package and lifting driven unit, described lifting driven unit comprises drive motors (21), be connected the tumbler (22) on drive motors (21) driving shaft, tumbler (22) is provided with oblique cam (24), described work package top is provided with fixed mount (11), this fixed mount (11) is mobily connected in the robot body, and the top of this fixed mount (11) is replaced mutually with the inclined-plane of oblique cam (24) below one side.
2. the robot that has the work package lowering or hoisting gear as claimed in claim 1, it is characterized in that, also be provided with gauge tap on the described lifting driven unit, this gauge tap comprises electroconductive elastic sheet (251) and control panel (252), electroconductive elastic sheet (251) is provided with 2 conductive contacts, and control panel (252) is provided with 3 contact points that electrically conduct; One of described electroconductive elastic sheet (251) or control panel (252) and tumbler (22) be coaxial to be connected setting, link to each other with drive motors (21) and be driven by it, produce relative rotation between electroconductive elastic sheet (251) and the control panel (252), described 3 contact points that electrically conduct are linked to each other in twos with described 2 conductive contacts.
3. the robot that has the work package lowering or hoisting gear as claimed in claim 1, it is characterized in that, described tumbler (22) is provided with gear wheel (222), and the driving shaft of described drive motors (21) is provided with pinion (221), and gear wheel (222) is meshed with the gear teeth of pinion (221).
4. the robot that has the work package lowering or hoisting gear as claimed in claim 3 is characterized in that, the speed reducing ratio of described pinion (221) and gear wheel (222) was smaller or equal to 1: 2.
5. the robot that has the work package lowering or hoisting gear as claimed in claim 4 is characterized in that, the speed reducing ratio of described pinion (221) and gear wheel (222) is 1: 4.
6. the robot that has the work package lowering or hoisting gear as claimed in claim 3 is characterized in that, described gear wheel (222) and oblique cam (24) are integrated.
7. the robot that has the work package lowering or hoisting gear as claimed in claim 1, it is characterized in that, the artificial glass cleaning machine device of described machine people, described work package comprises scraping article (131) and scraping article fixed support (132), described robot body bottom offers microscler notch, and scraping article moves back and forth in this microscler notch.
8. the robot that has the work package lowering or hoisting gear as claimed in claim 7, it is characterized in that, described scraping article (131) is the elasticity scraping article, the elasticity scraping article is curved, the peak of arc is fixed on the described fixed mount (11), the distance of the apogee distance glass surface to be cleaned of described elasticity scraping article is d, and the thickness of described oblique cam and the thickness difference between the thinnest part are greater than d.
9. the robot that has the work package lowering or hoisting gear as claimed in claim 7 is characterized in that, the quantity that is provided with of described lowering or hoisting gear is 2, and correspondence is offered 2 microscler notches on described chassis.
10. the robot that has the work package lowering or hoisting gear as claimed in claim 9 is characterized in that, the shared drive motors of described 2 lowering or hoisting gears.
11. the robot that has the work package lowering or hoisting gear as claimed in claim 9 is characterized in that, described 2 lowering or hoisting gears are driven by independent drive motors respectively.
12. the robot that has the work package lowering or hoisting gear as claimed in claim 1, it is characterized in that, the artificial sweeper device of described machine people, described work package comprises dish brush and dish brush fixed support, described robot body bottom is provided with opening, and the dish brush is back and forth realized lifting action in this opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200111260U CN201920650U (en) | 2011-01-05 | 2011-01-05 | Robot with workpiece lifter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200111260U CN201920650U (en) | 2011-01-05 | 2011-01-05 | Robot with workpiece lifter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201920650U true CN201920650U (en) | 2011-08-10 |
Family
ID=44424529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200111260U Expired - Lifetime CN201920650U (en) | 2011-01-05 | 2011-01-05 | Robot with workpiece lifter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201920650U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102578958A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Robot with workpiece lifting device |
| CN108991982A (en) * | 2017-11-24 | 2018-12-14 | 北京黑蚁兄弟科技有限公司 | A kind of scraping article elevating mechanism |
| CN112707163A (en) * | 2020-12-20 | 2021-04-27 | 刘琴 | Material sheet transferring mechanism for intelligent manufacturing punching machine and using method thereof |
-
2011
- 2011-01-05 CN CN2011200111260U patent/CN201920650U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102578958A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Robot with workpiece lifting device |
| CN102578958B (en) * | 2011-01-05 | 2014-04-30 | 泰怡凯电器(苏州)有限公司 | Robot with workpiece lifting device |
| CN108991982A (en) * | 2017-11-24 | 2018-12-14 | 北京黑蚁兄弟科技有限公司 | A kind of scraping article elevating mechanism |
| CN112707163A (en) * | 2020-12-20 | 2021-04-27 | 刘琴 | Material sheet transferring mechanism for intelligent manufacturing punching machine and using method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110810 Effective date of abandoning: 20140430 |
|
| RGAV | Abandon patent right to avoid regrant |